The work of [1]} is one of the first to deploy an implementation of the *SGM algorithm on an embedded CPU, namely the Freescale P4080, reaching a frame rate of only 0.5 FPS on VGA image resolution. When considering that this was done around the same time as the works of [2]} and [3]}, it illustrates the gap between conventional and embedded CPUs in terms of performance. However, the embedded CPU technology has also evolved and gained performance. Most of the modern high-end embedded *SoC typically consist of an ARM CPU and a *FPGA or a GPU, for example the Xilinx Ultrascale series or the NVIDIA Jetson series. [4]} implemented the ELAS stereo algorithm [5]} on a Xilinx ZC706 *SoC made up of an ARM CPU and a *FPGA. In this, they have deployed the computationally most expensive stages of the algorithm onto the *FPGA (if possible) and used the ARM CPU to process the stages with unpredictable memory access patterns. [6]} accelerated a simple stereo algorithm on an ARM CPU achieving frame rates of up to 59 FPS on an image resolution of 320\(\times \) 240 pixels. In this, they have parallelized the algorithm by using multi-threading as well as *SIMD vectorization on ARM with the NEON instruction set [7]}.
